worldmodel.h

对于2D ROBOCUP底层传球和定位球方面进行了严格的修改该

		BallStatusT   getCheckBallStatus ( ) const;
		bool          setCheckBallStatus ( BallStatusT    bs );
		bool          getRecvThink ( );
		char*         getCommunicationString ( );
		bool          setCommunicationString ( char*          srt );
		ObjectT       getObjectFocus ( );
		bool          setObjectFocus ( ObjectT        obj );

		// iterate over a specific object set
		ObjectT       iterateObjectStart ( int            &iIndex,
		                                   ObjectSetT     g,
		                                   double         dConf = -1.0,
		                                   bool           bForward = false );
		ObjectT       iterateObjectNext ( int            &iIndex,
		                                  ObjectSetT     g,
		                                  double         dConf = -1.0,
		                                  bool           bForward = false );
		void          iterateObjectDone ( int            &iIndex );

		// get and set methods for agent information
		ObjectT       getAgentObjectType ( ) const;
		int           getAgentIndex ( ) const;
		bool          setAgentObjectType ( ObjectT        o );
		AngDeg        getAgentBodyAngleRelToNeck ( ) const;
		AngDeg        getAgentGlobalNeckAngle ( ) const;
		AngDeg        getAgentGlobalBodyAngle ( );
		Stamina       getAgentStamina ( ) const;
		TiredNessT    getAgentTiredNess ( ) const;
		double        getAgentEffort ( ) const;
		VecPosition   getAgentGlobalVelocity ( ) const;
		double        getAgentSpeed ( ) const;
		VecPosition   getAgentGlobalPosition ( ) const;
		bool          setAgentViewAngle ( ViewAngleT     va ) ;
		ViewAngleT    getAgentViewAngle ( ) const;
		bool          setAgentViewQuality ( ViewQualityT   vq ) ;
		ViewQualityT  getAgentViewQuality ( ) const;
		double        getAgentViewFrequency ( ViewAngleT     va = VA_ILLEGAL,
		                                      ViewQualityT   vq = VQ_ILLEGAL );
		bool          getAgentArmMovable ( );
		VecPosition   getAgentArmPosition ( );
		int           getAgentArmExpires ( );

		// get methods for ball information
		VecPosition   getBallPos ( );
		double        getBallSpeed ( );
		AngDeg        getBallDirection ( );

		// get method for different information about a specific object
		Time          getTimeGlobalPosition ( ObjectT        o );
		VecPosition   getGlobalPosition ( ObjectT        o );
		Time          getTimeGlobalVelocity ( ObjectT        o );
		VecPosition   getGlobalVelocity ( ObjectT        o );
		double        getRelativeDistance ( ObjectT        o );
		VecPosition   getRelativePosition ( ObjectT        o );
		AngDeg        getRelativeAngle ( ObjectT        o,
		                                 bool           bWithBody = false );
		Time          getTimeGlobalAngles ( ObjectT        o );
		AngDeg        getGlobalBodyAngle ( ObjectT        o );
		AngDeg        getGlobalNeckAngle ( ObjectT        o );
		AngDeg        getGlobalAngle ( ObjectT        o );
		double        getConfidence ( ObjectT        o );
		bool          isKnownPlayer ( ObjectT        o );
		ObjectT       getOppGoalieType ( );
		ObjectT       getOwnGoalieType ( );
		Time          getTimeLastSeen ( ObjectT        o );
		Time          getTimeChangeInformation ( ObjectT        o );
		VecPosition   getGlobalPositionLastSee ( ObjectT        o );
		Time          getTimeGlobalPositionLastSee ( ObjectT       o );
		VecPosition   getGlobalVelocityLastSee ( ObjectT        o );
		AngDeg        getGlobalBodyAngleLastSee ( ObjectT        o );
		int           getTackleExpires ( ObjectT        o =OBJECT_ILLEGAL );
		AngDeg        getGlobalArmDirection ( ObjectT        o );
		Time          getTimeGlobalArmDirection ( ObjectT        o );
		double        getProbTackleSucceeds ( ObjectT        o = OBJECT_ILLEGAL,
		                                      int            iExtraCycles = 0,
		                                      VecPosition    *pos = NULL );
		double        getProbTackleClosestOpp ( int            iExtraCycles = 0 );
		list<ObjectT> getListCloseOpponents ( VecPosition    pos,
		                                      double         dDist = 15 );

		// set methods for objects
		bool          setIsKnownPlayer ( ObjectT        o,
		                                 bool           isKnownPlayer );
		bool          setTimeLastSeen ( ObjectT        o,
		                                Time           time );
		bool          setHeteroPlayerType ( ObjectT        o,
		                                    int            iPlayer );

		// formation information
		PlayerT       getPlayerType ( ObjectT        o =OBJECT_ILLEGAL );
		bool          isInPlayerSet ( ObjectT        o,
		                              PlayerSetT     ps );

		// get method for information about goals
		VecPosition   getPosOpponentGoal ( );
		VecPosition   getPosOwnGoal ( );
		double        getRelDistanceOpponentGoal ( );
		AngDeg        getRelAngleOpponentGoal ( );
		ObjectT       getLastOpponentDefender ( double         *dX = NULL );

		// get and methods about fixed specifications (heterogeneous players)
		HeteroPlayerSettings getInfoHeteroPlayer ( int            iIndex );
		HeteroPlayerSettings getHeteroInfoPlayer ( ObjectT        obj );
		int           getHeteroPlayerType ( ObjectT        obj );
		bool          setSubstitutedOpp ( ObjectT        obj );
		ObjectT       getSubstitutedOpp ( );
		double        getDashPowerRate ( ObjectT        obj );
		double        getPlayerSpeedMax ( ObjectT        obj );
		double        getPlayerDecay ( ObjectT        obj );
		double        getMaximalKickDist ( ObjectT        obj );
		double        getStaminaIncMax ( ObjectT        obj );
		double        getPlayerSize ( ObjectT        obj );
		double        getInertiaMoment ( ObjectT        obj );
		double        getEffortMax ( ObjectT        obj );
		double        getEffectiveMaxSpeed ( ObjectT        obj,
		                                     bool           bWithNoise =false );

		// get method about previous commands
		bool          isQueuedActionPerformed ( );

		// methods that return truth values about current play mode        //只有三种最基本的状态 isBeforeKickOff
		//isDeadBallUs isDeadballThem 剩下的状况分别属于这三种情况之一 具体内容参见WorldModle.cpp
		bool          isFreeKickUs        ( PlayModeT pm = PM_ILLEGAL );   //如果是我们的任意球
		bool          isFreeKickThem      ( PlayModeT pm = PM_ILLEGAL );   //如果是他们的任意球
		bool          isCornerKickUs      ( PlayModeT pm = PM_ILLEGAL );   //如果是我们的角球
		bool          isCornerKickThem    ( PlayModeT pm = PM_ILLEGAL );   //如果是他们的角球
		bool          isOffsideUs         ( PlayModeT pm = PM_ILLEGAL );   //我们越位
		bool          isOffsideThem       ( PlayModeT pm = PM_ILLEGAL );   //他们越位
		bool          isKickInUs          ( PlayModeT pm = PM_ILLEGAL );   //我们边线球
		bool          isKickInThem        ( PlayModeT pm = PM_ILLEGAL );   //他们边线球
		bool          isFreeKickFaultUs   ( PlayModeT pm = PM_ILLEGAL );   //我们任意球犯规
		bool          isFreeKickFaultThem ( PlayModeT pm = PM_ILLEGAL );   //他们任意球犯规
		bool          isKickOffUs 	  ( PlayModeT pm = PM_ILLEGAL );   //我们开球
		bool          isKickOffThem 	  ( PlayModeT pm = PM_ILLEGAL );   //他们开球
		bool          isBackPassUs 	  ( PlayModeT pm = PM_ILLEGAL );   //我们的回传球犯规
		bool          isBackPassThem 	  ( PlayModeT pm = PM_ILLEGAL );   //他们的回传球犯规
		bool          isGoalKickUs 	  ( PlayModeT pm = PM_ILLEGAL );   //我们门球 ？
		bool          isGoalKickThem 	  ( PlayModeT pm = PM_ILLEGAL );   //他们门球 ？
		bool          isBeforeKickOff 	  ( PlayModeT pm = PM_ILLEGAL );   //开球之前
		bool          isDeadBallUs 	  ( PlayModeT pm = PM_ILLEGAL );   //我们死球
		bool          isDeadBallThem 	  ( PlayModeT pm = PM_ILLEGAL );   //他们死球
		bool          isPenaltyUs 	  ( PlayModeT pm = PM_ILLEGAL );   //我们处罚球
		bool          isPenaltyThem 	  ( PlayModeT pm = PM_ILLEGAL );   //他们处罚球
		bool          isFullStateOn 	  ( SideT     s  = SIDE_ILLEGAL ); //

		// various methods
		bool          setChangeViewCommand ( SoccerCommand  soc );
		SoccerCommand getChangeViewCommand ( );

		SideT         getSidePenalty ( );
		bool          setSidePenalty ( SideT          side );

		////////////////////////// UPDATE METHODS (WorldModelUpdate.C)///////////////

		// processing new information about the objects (filling World Model).
		void          processSeeGlobalInfo ( ObjectT        o,
		                                     Time           time,
		                                     VecPosition    pos,
		                                     VecPosition    vel,
		                                     AngDeg         angBody,
		                                     AngDeg         angNeck );
		bool          processNewAgentInfo ( ViewQualityT   vq,
		                                    ViewAngleT     va,
		                                    double         dStamina,
		                                    double         dEffort,
		                                    double         dSpeed,
		                                    AngDeg         angSpeed,
		                                    AngDeg         angHeadAngle,
		                                    int            iTackleExpires,
		                                    int            iArmMovable,
		                                    int            iArmExpires,
		                                    VecPosition    posArm );
		void           processNewObjectInfo ( ObjectT        o,
		                                      Time           time,
		                                      double         dDist,
		                                      int            iDir,
		                                      double         dDistChange,
		                                      double         dDirChange,
		                                      AngDeg         angRelBodyAng,
		                                      AngDeg         angRelNeckAng,
		                                      bool           isGoalie,
		                                      ObjectT        objMin,
		                                      ObjectT        objMax,
		                                      double         dPointDir,
		                                      bool           isTackling );
		bool           processPerfectHearInfo ( ObjectT        o,
		                                        VecPosition    pos,
		                                        double         dConf,
		                                        bool           bIsGoalie=0 );
		bool           processPerfectHearInfoBall ( VecPosition    pos,
		        VecPosition    vel,
		        double         dConf );
		bool           processUnsureHearInfo ( ObjectT        o,
		                                       VecPosition    pos,
		                                       double         dConf );
		bool           processNewHeteroPlayer ( int            iIndex,
		                                        double         dPlayerSpeedMax,
		                                        double         dStaminaIncMax,
		                                        double         dPlayerDecay,
		                                        double         dInertiaMoment,
		                                        double         dDashPowerRate,
		                                        double         dPlayerSize,
		                                        double         dKickableMargin,
		                                        double         dKickRand,
		                                        double         dExtraStamina,
		                                        double         dEffortMax,
		                                        double         dEffortMin );
		void          processCatchedBall ( RefereeMessageT rm,
		                                   Time           time );
		void          processQueuedCommands ( SoccerCommand  commands[],
		                                      int            iCommands );
		bool          storePlayerMessage ( int            iPlayer,
		                                   char           *strMsg,
		                                   int            iCycle );
		bool          processPlayerMessage ( );
		bool          processRecvThink ( bool           b );

		// update methods (defined in WorldModelUpdate.C)
		bool          updateAll ( );

		// update with prediction for new cycle
		bool          updateAfterSenseMessage ( );

	private:
		// update with new visual information
		void          processLastSeeMessage ( );
		bool          updateAfterSeeMessage ( );
		bool          updateAgentObjectAfterSee ( );
		bool          updateDynamicObjectAfterSee ( ObjectT        o );

		// update new cycle
		void          processLastSenseMessage ( );
		bool          updateAgentAndBallAfterSense( );
		bool          updateBallAfterKick ( SoccerCommand  soc );
		bool          updateDynamicObjectForNextCycle ( ObjectT    o,
		        int            iCycle );
		bool          updateBallForCollision ( VecPosition    posAgent );

		// update from relative to global and vice versa
		bool          updateRelativeFromGlobal ( );
		bool          updateObjectRelativeFromGlobal ( ObjectT     o );

		// methods to determine agent state from perceived information
		bool          calculateStateAgent ( VecPosition    *posGlobal,
		                                    VecPosition    *velGlobal,
		                                    AngDeg         *angGlobal );
		void          initParticlesAgent ( AngDeg         angGlobal );
		void          initParticlesAgent ( VecPosition    posInitital );
		int           checkParticlesAgent ( AngDeg         angGlobalNeck );
		void          updateParticlesAgent ( VecPosition    vel,
		                                     bool           bAfterSense );
		VecPosition   averageParticles ( VecPosition    posArray[],
		                                 int            iLength );
		void          resampleParticlesAgent ( int            iLeft );
		bool          calculateStateAgent2 ( VecPosition    *posGlobal,
		                                     VecPosition    *velGlobal,
		                                     AngDeg         *angGlobal );
		bool          calculateStateAgent3 ( VecPosition    *posGlobal,
		                                     VecPosition    *velGlobal,
		                                     AngDeg         *angGlobal );
		VecPosition   calculatePosAgentWith2Flags ( ObjectT        objFlag1,
		        ObjectT        objFlag2 );
		AngDeg        calculateAngleAgentWithPos ( VecPosition    pos );


		// methods to determine ball state from perceived information
		bool          calculateStateBall ( VecPosition    *posGlobal,
		                                   VecPosition    *velGlobal );
		void          initParticlesBall ( VecPosition    posArray[],
		                                  VecPosition    velArray[],
		                                  int            iLength );
		void          checkParticlesBall ( VecPosition    posArray[],
		                                   VecPosition    velArray[],
		                                   int            iLength,
		                                   int            *iNrLeft );
		void          updateParticlesBall ( VecPosition    posArray[],
		                                    VecPosition    velArray[],
		                                    int            iLength,
		                                    double         dPower,
		                                    AngDeg         ang );
		void          resampleParticlesBall ( VecPosition    posArray[],
		                                      VecPosition    velArray[],
		                                      int            iLength,
		                                      int            iLeft );
		ObjectT       getMaxRangeUnknownPlayer ( ObjectT        obj,
		        char*          strMsg );
		VecPosition   calculateVelocityDynamicObject ( ObjectT     o );


		// methods to determine player state from perceived information
		bool          calculateStatePlayer ( ObjectT        o,
		                                     VecPosition    *posGlobal,
		                                     VecPosition    *velGlobal );

		// methods to calculate noise range (quantized noise)
		bool          getMinMaxDistQuantizeValue ( double         dInput,
		        double         *dMin,
		        double         *dMax,
		        double         x1,
		        double         x2 );